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Sensory data are critical for soft robot perception. However, integrating sensors to soft robots remains challenging due to their inherent softness. An alternative approach is indirect sensing through an estimation scheme, which uses robot dynamics and available measurements to estimate variables that would have been measured by sensors. Nevertheless, developing an adequately effective estimation scheme for soft robots is not straightforward. First, it requires a mathematical model; modeling of soft robots is analytically d

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Qualitatively, the cold brewed coffees tended to be redder, while the hot brewed coffees were blacker. The results suggest that there is an opportunity to manipulate and brand brewed coffee color through judicious choices of roast level and brewing temperature. PRACTICAL APPLICATION Color serves as an indicator of coffee quality and potentially could affect perceived sensory characteristics. Our results suggest that appropriate control of roast level and brew temperature could yield desired colors for novel coffee products.Diverse model